Trajectory tracking controller for differential-drive mobile robots

Julio C. Montesdeoca, Milton C.P. Santos, Matias Monllor, Daniel Herrera

Research output: Contribution to conferencePaper

1 Scopus citations

Abstract

© 2017 Comisión Permanente RPIC. This paper describes a time-invariant controller for trajectory tracking applied to the differential-drive mobile robot (DDMR), where the interest point position is located in an arbitrary position, the extended kinematic model of DDMR is used to propose a inverse kinematic controller; where, the extended kinematic model proposes a holonomic-like model for non-holonomic system, allowing this way, the use of inverse kinematic as control strategy. The system stability is proved by according to the Lyapunov theory, concluding that the system is asymptotically stable. Simulations show a good controller performance for different trajectories proposed.
Original languageEnglish
Pages1-4
Number of pages4
DOIs
StatePublished - 14 Dec 2017
Event2017 17th Workshop on Information Processing and Control, RPIC 2017 - Mar de Plata, Argentina
Duration: 20 Sep 201722 Sep 2017

Conference

Conference2017 17th Workshop on Information Processing and Control, RPIC 2017
Abbreviated titleRPIC 2017
Country/TerritoryArgentina
CityMar de Plata
Period20/09/1722/09/17

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